Večprstno prijemalo s spremenljivo konfiguracijo

Baras, Boštjan (author), Munih, Marko (mentor), Deniša, Miha (comentor)

V tem diplomskem delu je predstavljeno večprstno prijemalo s spremenljivo konfiguracijo. Spremenljiva konfiguracija prijemala omogoča spreminjanje lege prstov na prijemalu, zato prijemalo omogoča prijemanje širšega spektra predmetov v primerjavi s prijemalom brez možnosti spreminjanja konfiguracije. V prvem poglavju je predstavljen problem prijemanja na področju robotike. Sledi predstavitev ciljev diplomske naloge. V drugem poglavju so predstavljeni različni tipi robotskih prstov in robotskih prijemal ter različni načini spreminjanja konfiguracije robotskih prijemal. Tretje poglavje opisuje postopek izdelave robotskega prijemala. Na začetku poglavja so predstavljene metode 3D tiskanja, uporabljeni materiali in težave pri 3D tiskanju. V nadaljevanju poglavje opisuje proces nastajanja robotskih prstov in prijemala preko postopkov 3D modeliranja, 3D tiskanja in sestavljanja. V četrtem poglavju je opisana programska oprema robotskega prijemala. Predstavljene so funkcije krmilnika, ki omogočajo enostavno uporabo prijemala. V zadnjem, petem poglavju, je najprej obravnavana vzdržljivost robotskega prsta ter čas odpiranja in zapiranja prsta. Nadaljujemo s predstavitvijo rezultatov uspešnosti prijemanja robotskega prijemala z različnimi konfiguracijami. Na koncu poglavja komentiramo prednosti in pomanjkljivosti izdelanega prijemala ter predstavimo možnosti za izboljšavo.

• Language: Slovenian
• Keywords: prijemalo, prsti, robot, konfiguracija
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2023
• PID: 20.500.12556/RUL-148077
• COBISS.SI-ID: 160981763
• Publication date in RUL: 26.07.2023

Secondary language

• Language: English
• Title: Multifinger gripper with variable configuration

Abstract

A gripper with an exchangeable configuration is presented in this thesis. Exchangeable configuration of the gripper allows changing the position of the fingers, therefore, the gripper is able to grasp a wider range of objects compared to standard grippers. In the first chapter, the problem of grasping objects in the field of robotics is discussed. After that, the goals of the thesis are outlined. In the second chapter different types of robotic fingers and grippers are presented. At the end of the chapter, different approaches to gripper reconfiguration are presented. The third chapter describes the process of making the robotic gripper. Firstly, the methods of 3D printing, used filaments, and problems with 3D printing are presented. Secondly the process of making the robotic fingers and gripper using 3D modelling, 3D printing, and assembling are described. In the fourth chapter the software of the robotic gripper is described. The functions of the controller, which are easy to use, are presented. Lastly, in the fifth chapter, the durability of the robotic finger, the time of opening and closing, and the grasping test with different configurations are presented. Finally, the pros and cons and possible improvements of the system are discussed.

• Keywords: gripper, finger, robot, configuration